diff options
Diffstat (limited to 'src/modules/mavlink/waypoints.h')
| -rw-r--r-- | src/modules/mavlink/waypoints.h | 34 |
1 files changed, 20 insertions, 14 deletions
diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index d7d6b31dc..801bc0bcf 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -56,6 +56,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/navigation_capabilities.h> +#include <uORB/topics/mission.h> // FIXME XXX - TO BE MOVED TO XML enum MAVLINK_WPM_STATES { @@ -81,7 +82,7 @@ enum MAVLINK_WPM_CODES { /* WAYPOINT MANAGER - MISSION LIB */ #define MAVLINK_WPM_MAX_WP_COUNT 15 -#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates +// #define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates #ifndef MAVLINK_WPM_TEXT_FEEDBACK #define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text #endif @@ -92,33 +93,38 @@ enum MAVLINK_WPM_CODES { struct mavlink_wpm_storage { mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints -#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE - mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints -#endif +// #ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE + // mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints +// #endif uint16_t size; uint16_t max_size; uint16_t rcv_size; enum MAVLINK_WPM_STATES current_state; int16_t current_wp_id; ///< Waypoint in current transmission - int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards + // int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards uint16_t current_count; uint8_t current_partner_sysid; uint8_t current_partner_compid; uint64_t timestamp_lastaction; - uint64_t timestamp_last_send_setpoint; - uint64_t timestamp_firstinside_orbit; - uint64_t timestamp_lastoutside_orbit; + // uint64_t timestamp_last_send_setpoint; + // uint64_t timestamp_firstinside_orbit; + // uint64_t timestamp_lastoutside_orbit; uint32_t timeout; - uint32_t delay_setpoint; - float accept_range_yaw; - float accept_range_distance; - bool yaw_reached; - bool pos_reached; - bool idle; + int current_dataman_id; + // uint32_t delay_setpoint; + // float accept_range_yaw; + // float accept_range_distance; + // bool yaw_reached; + // bool pos_reached; + // bool idle; }; typedef struct mavlink_wpm_storage mavlink_wpm_storage; +int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); +int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); + + void mavlink_wpm_init(mavlink_wpm_storage *state); int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_pos, struct navigation_capabilities_s *nav_cap); |